Mitsubishi Electric MELFA CR750 Series User Manual page 279

Table 13-11 About Posture Elements of Re-teaching Position Data
Condition
When using posture elements of
position data
When not using posture elements of
position data
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Merit
Precision of generated
revision parameter
improves if the tip position
(X, Y, Z) and tip posture
elements are re-taught
correctly.
During re-teaching,
revision parameters can
be generated simply by
correctly teaching position
(X, Y, Z).
(Posture elements need
not be accurate.)
Note
During re-teaching, posture must
be taught correctly. If posture data
is incorrect, precision of revision
parameter actually decreases.
In case of the vertical 6-axis
robot :
* Posture elements (A, B, C) of
tool revision parameters cannot
be obtained.
* J6 axis of origin revision
parameter cannot be obtained if
both X and Y components of
the tool parameter are 0.0.
In case of the vertical 5-axis
robot :
* J6 axis of origin revision
parameter cannot be obtained.
In case of the horizontal 4-axis
robot :
* Posture elements (C) of tool
revision parameters cannot be
obtained.
* J4 axis of origin revision
parameter cannot be obtained if
both X and Y components of
the tool parameter are 0.0.
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